YASKAWA MP2000 Series User Manual

6.2 Motion Command Details
6.2.9 Change Acceleration Time (ACC)
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6.2.9 Change Acceleration Time (ACC)
The ACC command transfers the setting of the Straight Line Acceleration Time Constant (motion setting parameter
OL36) to the Second-step Linear Acceleration Time Constant in the SERVOPACK and enables the setting.
 For the SGD-N and SGDB-AN SERVOPACKs, the deceleration time constant will be the same as the
acceleration time constant.
 MECHATROLINK-II has a function that automatically updates setting parameters if a parameter changes. There is
no need to execute the ACC command with this function. For details, refer to bit A (User Constants Self-writing
Function) in the 4.4.1 ( 2 ) Function Selection 1.
( 1 ) Executing/Operating Procedure
1. Check to see if all the following conditions are satisfied.
2. Set OW08 to 10 to execute the ACC motion command.
The ACC command will transfer the setting of the Straight Line Acceleration Time Constant (motion setting
parameter OL36) to the Second-step Linear Acceleration Time Constant in the SERVOPACK and enable the
setting.
IW08 will be 10 during command execution.
IW09, bit 0 will turn ON during the command processing and will turn OFF when the processing has been
completed.
3. Set OW08 to 0 to execute the NOP motion command and then complete the change of the linear
acceleration time constant.
( 2 ) Holding and Aborting
The Holds a Command bit (OW09, bit 0) and the Interrupt a Command bit (OW09, bit 1) cannot be used.
( 3 ) Related Parameters
[ a ] Setting Parameters
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL02 and IL04 are 0.
2
Pulse distribution has been completed for the SERVO-
PACK.
IW0C, bit 0 is ON.
3 Motion command execution has been completed. IW08 is 0 and IW09, bit 0 is OFF.
Parameter Name Setting
OW03 Function Setting 1
Set the speed unit, acceleration/deceleration units, and filter type.
OW08 Motion Command
The linear acceleration time constant is changed when this parameter is set to 10.
OW09
Bit 0
Holds a Command
This parameter is ignored for ACC command.
OW09
Bit 1
Interrupt a Command
This parameter is ignored for ACC command.
OL36
Straight Line Acceler-
ation/Acceleration
Time Constant
Set the linear acceleration rate or acceleration time constant. The setting unit is speci-
fied by OW03.

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English